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Research on the Availability of VINS-Mono and ORB-SLAM3 Algorithms for Aviation 航空VINS-Mono和ORB-SLAM3算法的有效性研究
Pub Date : 2020-12-23 DOI: 10.37394/23205.2020.19.27
Burak Kaan Özbek, M. Turan
Navigation, which most people have an idea about, is often known as information about how to get from one point to another on the land. Navigation is an interest area for both civil and military aviation. Therefore, we get help from various sensors in order to trace the aircraft route. The most used sensor among them is GPS. It is a sensor that can be out of use although it has high accuracy rates. This research focused on being able to maintain the navigation of an aircraft in the environments where GPS is out of use. There are two visual-inertial navigation systems VINS-Mono and ORB-SLAM3, which are the best known algorithms in the literature, were examined and compared in terms of performance. It has been observed that ORB-SLAM3 outperformed almost twice the VINS-Mono system in various situations.
大多数人都知道导航,它通常被认为是关于如何在陆地上从一个点到达另一个点的信息。导航是民用和军用航空都感兴趣的领域。因此,我们得到了各种传感器的帮助,以跟踪飞机的航线。其中使用最多的传感器是GPS。虽然它具有很高的准确率,但它是一种可以不使用的传感器。这项研究的重点是能够在GPS不再使用的环境中保持飞机的导航。有两种视觉惯性导航系统VINS-Mono和ORB-SLAM3,这是文献中最著名的算法,在性能方面进行了检查和比较。已经观察到,在各种情况下,ORB-SLAM3的性能几乎是VINS-Mono系统的两倍。
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引用次数: 3
Data Analysis Using Representation Theory and Clustering Algorithms 基于表示理论和聚类算法的数据分析
Pub Date : 2020-12-18 DOI: 10.37394/23205.2020.19.38
Suboh Alkhushayni, T. Choi, Du’a Alzaleq
This work aims to expand the knowledge of the area of data analysis through both persistence homology, as well as representations of directed graphs. To be specific, we looked for how we can analyze homology cluster groups using agglomerative Hierarchical Clustering algorithms and methods. Additionally, the Wine data, which is offered in R studio, was analyzed using various cluster algorithms such as Hierarchical Clustering, K-Means Clustering, and PAM Clustering. The goal of the analysis was to find out which cluster's method is proper for a given numerical data set. By testing the data, we tried to find the agglomerative hierarchical clustering method that will be the optimal clustering algorithm among these three; K-Means, PAM, and Random Forest methods. By comparing each model's accuracy value with cultivar coefficients, we came with a conclusion that K-Means methods are the most helpful when working with numerical variables. On the other hand, PAM clustering and Gower with random forest are the most beneficial approaches when working with categorical variables. All these tests can determine the optimal number of clustering groups, given the data set, and by doing the proper analysis. Using those the project, we can apply our method to several industrial areas such that clinical, business, and others. For example, people can make different groups based on each patient who has a common disease, required therapy, and other things in the clinical society. Additionally, for the business area, people can expect to get several clustered groups based on the marginal profit, marginal cost, or other economic indicators.
这项工作旨在通过持久性同调以及有向图的表示来扩展数据分析领域的知识。具体地说,我们研究了如何使用聚合层次聚类算法和方法分析同源聚类组。此外,在R studio中提供的Wine数据使用各种聚类算法(如分层聚类、K-Means聚类和PAM聚类)进行分析。分析的目的是找出哪种聚类方法适合给定的数值数据集。通过对数据的测试,我们试图在这三种聚类算法中找到最优的聚类方法——聚类层次聚类方法;K-Means, PAM和随机森林方法。通过将各模型的精度值与品种系数进行比较,得出K-Means方法在处理数值变量时最有用的结论。另一方面,PAM聚类和Gower随机森林是处理分类变量时最有益的方法。在给定数据集的情况下,通过进行适当的分析,所有这些测试都可以确定聚类组的最佳数量。利用这些项目,我们可以将我们的方法应用于几个工业领域,如临床、商业和其他领域。例如,在临床社会中,人们可以根据每个患者的常见疾病,需要的治疗以及其他事情来划分不同的组。此外,对于业务领域,人们可以根据边际利润、边际成本或其他经济指标期望得到几个集群组。
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引用次数: 6
Neural Network Model Predictive Control (NNMPC) Design for UPFC UPFC的神经网络模型预测控制(NNMPC)设计
Pub Date : 2020-11-16 DOI: 10.37394/23205.2020.19.25
S. A. Al-Mawsawi, A. Haider, Q. Alfaris
Neural Network Model Predictive Control (NNMPC) is like almost like the model predictive control but the used inboard plant is designed based on using the concept of the artificial neural network to predict the behavior of the plant. The predicted values are fed to the optimizer in order to obtain better control variables. This type of controller will be used instead of the conventional controller in the most versatile FACTS devices, which is the Unified Power Flow Controller (UPFC). UPFC has the capability of controlling the transmission line parameters and consequently the flow of the active and reactive power in the transmission line. So, this type of adaptive controller, which is based on Artificial Neural Network (ANN) concept, will be implemented in UPFC, and will be investigated to ensure its robustness, effectiveness and the capability to accommodate any sudden load change in the system of Single Machine to Infinite Bus (SMIB). In addition, the dynamic performance of NNMPC will be compared with another type of adaptive controller scheme called Model Productive Controller (MPC).
神经网络模型预测控制(Neural Network Model Predictive Control, NNMPC)与模型预测控制非常相似,但所使用的机载目标是基于人工神经网络的概念来预测目标的行为。为了获得更好的控制变量,将预测值输入优化器。这种类型的控制器将用于取代最通用的FACTS设备中的传统控制器,即统一潮流控制器(UPFC)。UPFC具有控制输电线路参数的能力,从而控制输电线路中有功功率和无功功率的流动。因此,这种基于人工神经网络(ANN)概念的自适应控制器将在UPFC中实现,并将对其进行研究,以确保其鲁棒性,有效性以及适应单机到无限总线(SMIB)系统中任何突然负载变化的能力。此外,将NNMPC的动态性能与另一种称为模型生产控制器(MPC)的自适应控制器方案进行比较。
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引用次数: 4
Presenting Trends In Petrochemical Process Control Systems 石化过程控制系统的发展趋势
Pub Date : 2020-11-12 DOI: 10.37394/23205.2020.19.24
Kellee Farris, Subhashini Ganapathy, Mary E. Fendley
Petrochemical operators view the distributed control system process through operating graphics that are displayed on four or more cathode ray tube displays that are monitored 24/7. The graphics vary in both design and content, however there has not been extensive research done on the ability of vector arrows to display this trend information. The purpose of this study was to understand the current trend representation methods and to develop efficient trend representation displays. Results indicate that providing vector arrows for trend representation can be effective in getting the attention of the user and can help in reducing change blindness. Results also indicate that between 10 and 20 degrees of change a participant notices change and that any rate of change increase beyond that does not improve their recognition, illustrating the importance of capturing the rate of change within this range in representing trend data. We were able to demonstrate that use of vector arrows for at-a-glance initial trend analysis was easy to use and effective in petrochemical industry systems.
石化作业人员通过显示在四个或更多阴极射线管显示器上的操作图形来查看分布式控制系统过程,这些阴极射线管显示器全天候监控。图形在设计和内容上都各不相同,但是矢量箭头显示这种趋势信息的能力还没有得到广泛的研究。本研究的目的是了解目前的趋势表示方法,并开发有效的趋势表示显示。结果表明,为趋势表示提供矢量箭头可以有效地引起用户的注意,并有助于减少变化盲目性。结果还表明,在10到20度的变化之间,参与者注意到变化,任何超过此范围的变化率都不会提高他们的识别能力,这说明了在表示趋势数据时捕获此范围内的变化率的重要性。我们能够证明,在石化工业系统中,使用矢量箭头进行一目了然的初始趋势分析是容易使用和有效的。
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引用次数: 2
Data Level Approach for Multiclass Imbalance Financial Data 多类失衡财务数据的数据层次方法
Pub Date : 2020-10-27 DOI: 10.37394/23205.2020.19.22
N. Ruzgar, Clare Chua
In the real world, the class imbalance problem is a common issue in which classifier gives more importance to the majority class whereas less importance to the minority class. In class imbalance, imbalance metrics would not be suitable to evaluate the performance of classifiers with error rate or predictive accuracy. One type of imbalance data -handling method is resampling. In this paper, three resampling methods, oversampling, under-sampling and hybrid, methods are used with different approaches for in class imbalance of two different financial data to see the impact of class imbalance ratios on performance measures of nine different classification algorithms. Aiming to achieve better change classification performance, the performance of the classification algorithms, Bayes Net, Navie Bayes, J48, Random Forest Meta-Attribute Selected Classifier, MetaClassification via Regression, Meta-Logitboost, Logistic Regression, and Decision Tree, are measured on two Canadian Banks multiclass imbalance data with the performance measures, Precision, Recall, ROC Area and Kappa Statistic, by using WEKA software. The outcome of these performance measurements compared with three different resampling methods. The results provide us with a clear picture on the overall impact of class imbalance on the classification dataset and they indicate that proposed resampling methods can also be used for in class imbalance problems
在现实世界中,类不平衡问题是分类器对多数类重视程度高而对少数类重视程度低的常见问题。在类不平衡的情况下,不平衡指标不适合用来评价具有错误率或预测准确率的分类器的性能。一种不平衡数据处理方法是重采样。本文采用过采样、欠采样和混合三种重采样方法,采用不同的方法对两种不同的金融数据进行类内失衡,观察类失衡比例对九种不同分类算法性能指标的影响。为了获得更好的变化分类性能,利用WEKA软件,对贝叶斯网络、纳维贝叶斯、J48、随机森林元属性选择分类器、meta - classification via Regression、Meta-Logitboost、Logistic回归和决策树等分类算法在两家加拿大银行多类失衡数据上的性能指标Precision、Recall、ROC Area和Kappa Statistic进行了测量。这些性能测量的结果与三种不同的重采样方法进行了比较。结果为我们提供了类不平衡对分类数据集的总体影响的清晰图像,并表明所提出的重采样方法也可用于类不平衡问题
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引用次数: 1
Dynamic Programming in Topological Spaces 拓扑空间中的动态规划
Pub Date : 2020-10-23 DOI: 10.37394/23205.2021.20.11
Merve Nur Cakir, M. Saleemi, K. Zimmermann
Dynamic programming is a mathematical optimization method and a computer programming method as well. In this paper, the notion of sheaf programming in topological spaces is introduced and it is demonstrated that it relates very well to the concept of dynamic programming.
动态规划是一种数学优化方法,也是一种计算机规划方法。本文引入了拓扑空间中的簇规划的概念,并证明了它与动态规划的概念有很好的联系。
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引用次数: 2
Population-based Method for Optimizing Targeted Offers Problem in Direct Marketing Campaigns 基于人群的直销活动目标报价优化方法
Pub Date : 2020-10-15 DOI: 10.37394/23205.2020.19.21
Moulay Youssef Smaili, H. Hachimi
In direct marketing campaigns, the optimization of targeted offers problem is a big business concern. The main goal is to maximize the company’s profit by reaching the right clients. The main challenge faced by companies when advertising, is to configure properly a campaign by choosing the appropriate target, so it is guaranteed a high acceptance of users to advertisements. When dealing with an important size of data, the important specification to consider is the combinatorial aspect of the problem and the limitation of the approach based on mathematical programming methods. In this article, and since this problem belongs to the class of NP-hard problems, the use of metaheuristic, instead of exact methods, is essential; the Bat Algorithm which is a new inspired algorithm is proposed after hybridization with Genetic Algorithm. Computational experiments show that the proposed algorithm was able to give good and competitive solutions
在直接营销活动中,目标优惠的优化问题是企业关注的一个大问题。主要目标是通过接触合适的客户来最大化公司的利润。公司在做广告时面临的主要挑战是通过选择合适的目标人群来合理配置广告活动,从而保证用户对广告的高接受度。在处理大量数据时,需要考虑的重要规范是问题的组合方面以及基于数学规划方法的方法的局限性。在本文中,由于这个问题属于np困难问题,使用元启发式方法而不是精确方法是必要的;将蝙蝠算法与遗传算法进行杂交,提出了一种新的启发算法。计算实验表明,该算法能够给出较好的竞争性解
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引用次数: 0
Quantum­-Inspired Genetic Algorithm for Solving the Test Suite Minimization Problem 求解测试集最小化问题的量子启发遗传算法
Pub Date : 2020-08-17 DOI: 10.37394/23205.2020.19.20
Hager Hussein, A. Younes, W. Abdelmoez
Test Suite Minimization problem is a nondeterministic polynomial time (NP) complete problem insoftware engineering that has a special importance in software testing. In this problem, a subset with a minimalsize that contains a number of test cases that cover all the test requirements should be found. A brute­forceapproach to solving this problem is to assume a size for the minimal subset and then search to find if there is asubset of test cases with the assumed size that solves the problem. If not, the assumed minimal size is graduallyincremented, and the search is repeated. In this paper, a quantum­inspired genetic algorithm (QIGA) will beproposed to solve this problem. In it, quantum superposition, quantum rotation and quantum measurement willbe used in an evolutionary algorithm. The paper will show that the adopted quantum techniques can speed upthe convergence of the classical genetic algorithm. The proposed method has an advantage in that it reduces theassumed minimal number of test cases using quantum measurements, which makes it able to discover the minimalnumber of test cases without any prior assumptions.
测试集最小化问题是软件工程中的一个非确定性多项式时间完备问题,在软件测试中具有特殊的重要性。在这个问题中,应该找到一个包含许多覆盖所有测试需求的测试用例的最小子集。解决这个问题的一种蛮力方法是假设最小子集的大小,然后搜索是否存在具有假设大小的测试用例子集来解决问题。如果没有,则假设的最小大小逐渐增加,并重复搜索。本文将提出一种量子启发遗传算法(QIGA)来解决这一问题。在其中,量子叠加,量子旋转和量子测量将在进化算法中使用。本文将证明采用量子技术可以加快经典遗传算法的收敛速度。所提出的方法的优点在于它减少了使用量子测量的最小测试用例数量,这使得它能够在没有任何先前假设的情况下发现最小数量的测试用例。
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引用次数: 1
Dynamic Analysis of Semi-Circular Dry-Joint Masonry Arches: Small-Scale Experiment and Discrete Element Modeling 半圆形干缝砌体拱的动力分析:小尺度试验和离散元模型
Pub Date : 2020-07-23 DOI: 10.37394/23205.2020.19.19
T. Atar, T. McCabe, E. Erdogmus, B. Pulatsu
This study presents a numerical investigation of the dynamic behavior of dry-joint unreinforced semi-circular masonry arches using the discrete element method (DEM). Masonry arches are analyzed as a system of rigid blocks, mechanically interacting with each other through relative contact displacements. First, the applied modeling strategy is validated using a small-scale tilting experiment performed on a 3D printed arch model and a custom-made rotatable platform. Then, quasi-static and dynamic analysis analyses are performed on computational models to better understand the seismic capacity of the masonry arches depending on the frequency content of the excitations, thickness-to-radius ratios, scale of the arch, and the contact stiffness values. The results of the analyses reveal the capabilities of the discrete element models on the simulation of masonry arches. Particular findings include these types of arches’ vulnerability to excitations lower than 2 Hz dominant frequency. Furthermore, the impact of scale and slenderness become more pronounced for frequencies greater than 2 Hz. Finally, it is observed that once contact stiffness values are larger than 10 GPa/m, the effect of this parameter is negligible; but it should be carefully selected at lower values.
本文采用离散元法(DEM)对干缝无筋半圆形砌体拱的动力特性进行了数值研究。砌体拱被分析为刚性砌块系统,通过相对接触位移相互作用。首先,在3D打印的拱门模型和定制的可旋转平台上进行了小规模倾斜实验,验证了所应用的建模策略。然后,对计算模型进行准静力分析和动力分析,以更好地了解砌体拱的抗震能力,这取决于激励频率、拱的厚度与半径比、拱的规模和接触刚度值。分析结果揭示了离散单元模型在砌体拱结构模拟中的能力。特别的发现包括这些类型的拱对低于2赫兹主导频率的激励的脆弱性。此外,对于大于2hz的频率,尺度和细细的影响变得更加明显。当接触刚度值大于10 GPa/m时,该参数的影响可以忽略不计;但应该在较低的值下仔细选择。
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引用次数: 2
Robust Power Control for Wind Power Generation system based on PMSG 基于PMSG的风力发电系统鲁棒功率控制
Pub Date : 2020-05-11 DOI: 10.37394/23205.2020.19.18
Nada Zine Laabidine, A. Errarhout, Chakib El Bakkali, K. Mohammed, B. Bossoufi
In this work, we are developing a new control strategy for wind systems based on the permanent magnet synchronous generator (PMSG). The SMC sliding mode technique is based on the principle of Lyapunov stability in order to make a nonlinear system close to linearity. the use of such a technique with an improvement in regulators to suppress the Chattering phenomenon shows a great improvement in the performance of wind systems. The performance and robustness of the PMSG and the wind turbine are analyzed and compared by simulation based on Matlab / Simulink.
在这项工作中,我们正在开发一种新的基于永磁同步发电机(PMSG)的风力系统控制策略。SMC滑模技术基于李雅普诺夫稳定原理,使非线性系统接近线性。使用这种技术并改进调节器来抑制抖振现象,可以大大改善风系统的性能。通过Matlab / Simulink仿真,对PMSG和风力机的性能和鲁棒性进行了分析比较。
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引用次数: 0
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